#include <planning_context_manager.h>
Definition at line 111 of file planning_context_manager.h.
◆ PlanningContextManager()
| ompl_interface::PlanningContextManager::PlanningContextManager |
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moveit::core::RobotModelConstPtr |
robot_model, |
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constraint_samplers::ConstraintSamplerManagerPtr |
csm |
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◆ ~PlanningContextManager()
| ompl_interface::PlanningContextManager::~PlanningContextManager |
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◆ getMaximumGoalSamples()
| unsigned int ompl_interface::PlanningContextManager::getMaximumGoalSamples |
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◆ getMaximumGoalSamplingAttempts()
| unsigned int ompl_interface::PlanningContextManager::getMaximumGoalSamplingAttempts |
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const |
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◆ getMaximumPlanningThreads()
| unsigned int ompl_interface::PlanningContextManager::getMaximumPlanningThreads |
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const |
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◆ getMaximumSolutionSegmentLength()
| double ompl_interface::PlanningContextManager::getMaximumSolutionSegmentLength |
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const |
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◆ getMaximumStateSamplingAttempts()
| unsigned int ompl_interface::PlanningContextManager::getMaximumStateSamplingAttempts |
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const |
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◆ getMinimumWaypointCount()
| unsigned int ompl_interface::PlanningContextManager::getMinimumWaypointCount |
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const |
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◆ getPlannerConfigurations()
◆ getPlannerSelector()
◆ getPlanningContext() [1/2]
This is the function that constructs new planning contexts if no previous ones exist that are suitable.
Definition at line 327 of file planning_context_manager.cpp.
◆ getPlanningContext() [2/2]
| ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext |
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const planning_scene::PlanningSceneConstPtr & |
planning_scene, |
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const planning_interface::MotionPlanRequest & |
req, |
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moveit_msgs::MoveItErrorCodes & |
error_code, |
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const ros::NodeHandle & |
nh, |
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bool |
use_constraints_approximations |
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Returns a planning context to OMPLInterface, which in turn passes it to OMPLPlannerManager.
This function checks the input and reads planner specific configurations. Then it creates the planning context with PlanningContextManager::createPlanningContext. Finally, it puts the context into a state appropriate for planning. This last step involves setting the start, goal, and state validity checker using the method ModelBasedPlanningContext::configure.
Definition at line 427 of file planning_context_manager.cpp.
◆ getRegisteredPlannerAllocators()
| const std::map<std::string, ConfiguredPlannerAllocator>& ompl_interface::PlanningContextManager::getRegisteredPlannerAllocators |
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◆ getRegisteredStateSpaceFactories()
| const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& ompl_interface::PlanningContextManager::getRegisteredStateSpaceFactories |
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◆ getRobotModel()
| const moveit::core::RobotModelConstPtr& ompl_interface::PlanningContextManager::getRobotModel |
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const |
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◆ getStateSpaceFactory() [1/2]
| const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory |
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const std::string & |
factory_type | ) |
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◆ getStateSpaceFactory() [2/2]
| const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory |
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const std::string & |
group_name, |
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const moveit_msgs::MotionPlanRequest & |
req |
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◆ MOVEIT_STRUCT_FORWARD()
| ompl_interface::PlanningContextManager::MOVEIT_STRUCT_FORWARD |
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CachedContexts |
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◆ plannerSelector()
◆ registerDefaultPlanners()
| void ompl_interface::PlanningContextManager::registerDefaultPlanners |
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◆ registerDefaultStateSpaces()
| void ompl_interface::PlanningContextManager::registerDefaultStateSpaces |
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◆ registerPlannerAllocator()
| void ompl_interface::PlanningContextManager::registerPlannerAllocator |
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const std::string & |
planner_id, |
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const ConfiguredPlannerAllocator & |
pa |
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◆ registerPlannerAllocatorHelper()
template<typename T >
| void ompl_interface::PlanningContextManager::registerPlannerAllocatorHelper |
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const std::string & |
planner_id | ) |
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◆ registerStateSpaceFactory()
| void ompl_interface::PlanningContextManager::registerStateSpaceFactory |
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const ModelBasedStateSpaceFactoryPtr & |
factory | ) |
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◆ setMaximumGoalSamples()
| void ompl_interface::PlanningContextManager::setMaximumGoalSamples |
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unsigned int |
max_goal_samples | ) |
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◆ setMaximumGoalSamplingAttempts()
| void ompl_interface::PlanningContextManager::setMaximumGoalSamplingAttempts |
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unsigned int |
max_goal_sampling_attempts | ) |
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◆ setMaximumPlanningThreads()
| void ompl_interface::PlanningContextManager::setMaximumPlanningThreads |
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unsigned int |
max_planning_threads | ) |
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◆ setMaximumSolutionSegmentLength()
| void ompl_interface::PlanningContextManager::setMaximumSolutionSegmentLength |
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double |
mssl | ) |
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◆ setMaximumStateSamplingAttempts()
| void ompl_interface::PlanningContextManager::setMaximumStateSamplingAttempts |
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unsigned int |
max_state_sampling_attempts | ) |
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◆ setMinimumWaypointCount()
| void ompl_interface::PlanningContextManager::setMinimumWaypointCount |
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unsigned int |
mwc | ) |
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◆ setPlannerConfigurations()
Specify configurations for the planners.
- Parameters
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| pconfig | Configurations for the different planners |
Definition at line 321 of file planning_context_manager.cpp.
◆ cached_contexts_
| CachedContextsPtr ompl_interface::PlanningContextManager::cached_contexts_ |
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◆ constraint_sampler_manager_
| constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::PlanningContextManager::constraint_sampler_manager_ |
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◆ known_planners_
◆ max_goal_samples_
| unsigned int ompl_interface::PlanningContextManager::max_goal_samples_ |
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maximum number of states to sample in the goal region for any planning request (when such sampling is possible)
Definition at line 273 of file planning_context_manager.h.
◆ max_goal_sampling_attempts_
| unsigned int ompl_interface::PlanningContextManager::max_goal_sampling_attempts_ |
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◆ max_planning_threads_
| unsigned int ompl_interface::PlanningContextManager::max_planning_threads_ |
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◆ max_solution_segment_length_
| double ompl_interface::PlanningContextManager::max_solution_segment_length_ |
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the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space
Definition at line 287 of file planning_context_manager.h.
◆ max_state_sampling_attempts_
| unsigned int ompl_interface::PlanningContextManager::max_state_sampling_attempts_ |
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maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints
Definition at line 277 of file planning_context_manager.h.
◆ minimum_waypoint_count_
| unsigned int ompl_interface::PlanningContextManager::minimum_waypoint_count_ |
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protected |
the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)
Definition at line 291 of file planning_context_manager.h.
◆ planner_allocator_
◆ planner_configs_
All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.
Definition at line 270 of file planning_context_manager.h.
◆ robot_model_
| moveit::core::RobotModelConstPtr ompl_interface::PlanningContextManager::robot_model_ |
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◆ state_space_factories_
| std::map<std::string, ModelBasedStateSpaceFactoryPtr> ompl_interface::PlanningContextManager::state_space_factories_ |
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The documentation for this class was generated from the following files: